/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "Vofa_software.h"
#include "Vofa_visualization.h"
#include "STM32Communication.h"

#include "INA226_driver.h"
#include "SCB_Control.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint8_t Control_Receive[3];
uint8_t Ipc_Receive[10];
int t_value=40;

ina226_driver_t Chassis_Power_Driver_Group[4];
ina226_driver_t Chassis_Power_Driver_Group2;
ina226_driver_t Charge_Power_Driver;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void setPWM(TIM_HandleTypeDef timer, uint32_t channel, uint16_t period,
uint16_t pulse)
{
 HAL_TIM_PWM_Stop(&timer, channel); // stop generation of pwm
 TIM_OC_InitTypeDef sConfigOC;
 timer.Init.Period = period; // set the period duration
 HAL_TIM_PWM_Init(&timer); // reinititialise with new period value
 sConfigOC.OCMode = TIM_OCMODE_PWM1;
 sConfigOC.Pulse = pulse; // set the pulse duration
 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
 HAL_TIM_PWM_ConfigChannel(&timer, &sConfigOC, channel);
 HAL_TIM_PWM_Start(&timer, channel); // start pwm generation
} 
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */
	
  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART3_UART_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
	__HAL_UART_ENABLE_IT(&huart1,UART_IT_IDLE);
	HAL_UART_Receive_DMA(&huart1,(uint8_t *)MCU_Receive,RECEIVE_SIZE);
	// open uart3
//	__HAL_UART_ENABLE_IT(&huart3,UART_IT_IDLE);
//	HAL_UART_Receive_DMA(&huart3,(uint8_t *)MCU_Receive,RECEIVE_SIZE);
	
	// initial Current Detection Drivers
	Ina226_Init(&Chassis_Power_Driver_Group[0],
	GPIOB,GPIO_PIN_4,
	GPIOB,GPIO_PIN_5,
	0x80
	);
	Ina226_Init(&Chassis_Power_Driver_Group[1],
	GPIOB,GPIO_PIN_6,
	GPIOB,GPIO_PIN_7,
	0x80
	);
	Ina226_Init(&Chassis_Power_Driver_Group[2],
	GPIOA,GPIO_PIN_15,
	GPIOB,GPIO_PIN_3,
	0x80
	);
	Ina226_Init(&Chassis_Power_Driver_Group[3],
	GPIOA,GPIO_PIN_11,
	GPIOA,GPIO_PIN_12,
	0x80
	);
	Ina226_Init(&Charge_Power_Driver,
	GPIOC,GPIO_PIN_15,
	GPIOC,GPIO_PIN_14,
	0x8A
	);

	init_out();
	setPWM(htim2, TIM_CHANNEL_2, 60000, 60000);
	Chassis_Receive.Mode = Safe_Mode;
	SetControlMode(Normal_Mode);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	//	TPL_WriteData(t_value);
		
		for(int i=0;i<4;i++)
			Chassis_Power_Driver_Group[i].Updata_data_process(&Chassis_Power_Driver_Group[i]);
		Chassis_Send.Chassis_Board.Check = 1;
		Chassis_Send.Chassis_Board.Motor1 = Chassis_Power_Driver_Group[0].data.Power;
		Chassis_Send.Chassis_Board.Motor2 = Chassis_Power_Driver_Group[1].data.Power;
		Chassis_Send.Chassis_Board.Motor3 = Chassis_Power_Driver_Group[2].data.Power;
		Chassis_Send.Chassis_Board.Motor4 = Chassis_Power_Driver_Group[3].data.Power;
//		Ina226_Contrl(&Chassis_Power_Driver_Group2);
		Charge_Power_Driver.Updata_data_process(&Charge_Power_Driver);
		ChassisMode_Control();
		if(SCB_Visual_Flag_t.Wave_Show == 1)
		{
			Vofa_Sent_Justfloat();
			
		}
		HAL_Delay(20);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
